version: 66.07
glider: 500
mission: 7
dive: 16
start: 9 16 110 15 47 27
data:
$ID,500
$MISSION,7
$DIVE,16
$D_SURF,3
$D_FLARE,3
$D_TGT,420
$D_ABORT,500
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,140
$T_MISSION,160
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,100
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,51806
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2112
$TGT_DEFAULT_LON,-15800
$TGT_AUTO_DEFAULT,0
$SM_CC,572
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,250000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-115564.26
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,157
$PITCH_MAX,3893
$C_PITCH,3220
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,30
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,213
$ROLL_MAX,3849
$ROLL_DEG,45
$C_ROLL_DIVE,2031
$C_ROLL_CLIMB,2031
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,475
$VBD_MAX,3942
$C_VBD,2750
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,1
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-66.799538
$PRESSURE_SLOPE,0.00011603366
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,3
$XPDR_VALID,6
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.2
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,2
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,5
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042834957
$SEABIRD_T_H,0.0006203251
$SEABIRD_T_I,2.2469603e-05
$SEABIRD_T_J,2.3267601e-06
$SEABIRD_C_G,-9.868659
$SEABIRD_C_H,1.1169316
$SEABIRD_C_I,0.00023590792
$SEABIRD_C_J,7.8038953e-05
$AR_DIVENUM,15
$AR_SAMPLENUM,8
$AR_OUTLEVEL,2
$AR_LOGFILE,C:\ARS.LOG
$AR_FGSLOPE,0.0033
$AR_FGYINT,-0.045
$AR_FORCETOHOST,0
$AR_WARMUP,20
$AR_UPLOADEXTS,PSD,OTO
$AR_HEAPDBG,0
$AR_ARSMODEL,3
$AR_ARSSERIAL,5
$AR_ARSCH1GAIN,200
$AR_ARSCH2GAIN,200
$AR_ARSCH1FLT,30000
$AR_ARSCH2FLT,1200
$AR_FGCLKCORR,0.940588
$AR_CHKOPENFILES,1
$AR_EPOCHTS,0
$GPS1,160910,153755,2109.013,-15753.250,41,0.9,41,9.8
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-69.0
$GPS2,160910,154632,2109.004,-15753.318,11,1.1,11,9.8
$SPEED_LIMITS,0.173,0.215
$TGT_NAME,WYPT1
$TGT_LATLONG,2109.000,-15753.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.173,0.010
$KALMAN_X,3363.8,-1642.9,66.6,-3871.7,277.1
$KALMAN_Y,-782.5,570.9,-14.8,-9885.6,-23.3
$MHEAD_RNG_PITCHd_Wd,76.9,550,-27.2,-10.000
$D_GRID,420
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,23,end surface,CONTROL_FINISHED_OK
$STATE,23,begin dive
$GC,25,-0.99,-63.0,0.0,0.0,0,114,0.00,0.00,-85.95,0.000,2,0.000,0.000,125,2039,2863,0,0,0,0,0,0
$GC,116,-0.99,-63.0,3.5,-10.2,17,138,11.02,2.38,-2.80,0.000,4,0.246,0.057,2880,3614,3007,0,0,0,0,0,0
$GC,143,-0.99,-63.0,14.3,-39.4,22,149,0.00,2.30,0.00,0.000,6,0.000,0.031,2880,2017,3010,0,0,0,0,0,0
$GC,343,-0.99,-63.0,76.7,-30.1,45,344,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,2017,3011,0,0,0,0,0,0
$GC,597,-0.99,-63.0,139.7,-23.2,69,601,0.00,2.25,0.00,0.000,4,0.000,0.042,2885,443,3012,0,0,0,0,0,0
$GC,748,-0.99,-63.0,174.4,-20.7,82,753,0.12,2.28,0.00,0.000,6,0.183,0.036,2901,2049,3011,0,0,0,0,0,0
$GC,1010,-0.99,-63.0,225.1,-19.7,101,1014,0.00,2.30,0.00,0.000,4,0.000,0.043,2901,449,3013,0,0,0,0,0,0
$GC,1099,-0.99,-63.0,241.1,-16.3,105,1103,0.00,2.22,0.00,0.000,6,0.000,0.036,2890,2038,3013,0,0,0,0,0,0
$GC,1425,-0.99,-63.0,291.1,-14.5,121,1426,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,2039,3014,0,0,0,0,0,0
$GC,1730,-0.99,-63.0,340.9,-16.7,130,1734,0.00,2.25,0.00,0.000,4,0.000,0.043,2890,455,3014,0,0,0,0,0,0
$GC,1898,-0.99,-63.0,368.3,-16.8,133,1903,0.00,2.22,0.00,0.000,6,0.000,0.037,2878,2041,3013,0,0,0,0,0,0
$STATE,2226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2227,begin apogee
$GC,2231,-0.23,0.0,423.0,17.1,142,2283,0.80,0.00,48.78,0.802,6,0.143,0.000,3139,2041,2750,0,0,0,0,0,0
$STATE,2285,end apogee,CONTROL_FINISHED_OK
$STATE,2285,begin climb
$GC,2287,0.99,63.0,426.5,0.0,143,2347,1.08,2.47,50.85,0.788,4,0.084,0.048,3534,3612,2492,0,0,0,0,0,0
$GC,2599,1.09,147.8,425.3,1.0,150,2676,0.00,2.30,68.68,0.802,6,0.000,0.035,3545,2032,2147,0,0,0,0,0,0
$GC,3000,1.09,147.8,384.2,11.9,160,3004,0.00,2.38,0.00,0.000,4,0.000,0.049,3545,3612,2138,0,0,0,0,0,0
$GC,3031,1.09,147.8,380.0,13.1,160,3038,0.00,2.33,0.00,0.000,6,0.000,0.035,3557,2037,2137,0,0,0,0,0,0
$GC,3363,1.09,147.8,342.3,10.8,169,3367,0.00,2.30,0.00,0.000,4,0.000,0.046,3569,448,2137,0,0,0,0,0,0
$GC,3434,1.09,147.8,334.9,10.3,170,3438,0.00,2.30,0.00,0.000,6,0.000,0.038,3569,2017,2135,0,0,0,0,0,0
$GC,3771,1.09,147.8,302.6,10.0,179,3775,0.00,2.28,0.00,0.000,4,0.000,0.047,3580,448,2133,0,0,0,0,0,0
$GC,4027,1.09,147.8,272.1,10.8,189,4034,0.00,2.30,0.00,0.000,6,0.000,0.038,3580,2035,2133,0,0,0,0,0,0
$GC,4343,1.10,158.2,242.0,8.9,205,4357,0.00,2.40,7.35,0.627,4,0.000,0.048,3592,443,2104,0,0,0,0,0,0
$GC,4611,1.11,167.4,218.3,9.0,217,4626,0.00,2.30,9.15,0.639,6,0.000,0.038,3592,2041,2065,0,0,0,0,0,0
$GC,4945,1.11,167.5,183.2,10.0,240,4949,0.00,2.33,0.00,0.000,4,0.000,0.047,3604,451,2063,0,0,0,0,0,0
$GC,5114,1.11,167.5,166.9,10.5,254,5119,0.00,2.28,0.00,0.000,6,0.000,0.039,3604,2031,2061,0,0,0,0,0,0
$GC,5375,1.14,191.5,144.6,7.4,279,5400,0.00,2.33,19.83,0.630,4,0.000,0.049,3604,3605,1970,0,0,0,0,0,0
$GC,5495,1.14,191.5,130.9,11.7,289,5501,0.00,2.28,0.00,0.000,6,0.000,0.035,3616,2021,1965,0,0,0,0,0,0
$GC,5757,1.14,191.5,101.6,11.5,314,5761,0.00,2.30,0.00,0.000,4,0.000,0.045,3628,452,1964,0,0,0,0,0,0
$GC,6013,1.16,201.0,77.2,9.0,336,6031,0.10,2.28,8.73,0.518,6,0.166,0.036,3596,2030,1928,0,0,0,0,0,0
$GC,6285,1.19,228.2,58.1,7.1,362,6316,0.00,2.38,22.62,0.545,4,0.000,0.044,3607,452,1819,0,0,0,0,0,0
$GC,6568,1.19,228.2,26.0,14.4,390,6574,0.00,2.28,0.00,0.000,6,0.000,0.036,3607,2037,1811,0,0,0,0,0,0
$GC,6777,1.19,229.4,3.2,9.9,427,6782,0.00,2.30,0.00,0.000,4,0.000,0.044,3619,457,1813,0,0,0,0,0,0
$STATE,6786,end climb,SURFACE_DEPTH_REACHED
$STATE,6786,begin surface coast
$FINISH,0.4,1.020807
$STATE,6815,end surface coast,CONTROL_FINISHED_OK
$STATE,6815,begin surface
$SM_CCo,6836,159.93,0.471,1,0,475,558.29
$SM_CCo,7004,0.00,0.000,0,0,475,558.05
$SM_CCo,7007,0.00,0.000,0,0,474,558.29
$SM_GC,0.91,0.00,0.00,0.00,0.000,0.000,0.000,140,2047,474,-9.63,0.45,558.29
$IRIDIUM_FIX,2101.76,-15750.89,110312,070736
$TT8_MAMPS,0.059059
$HUMID,1078657410
$INTERNAL_PRESSURE,9.5304
$TCM_TEMP,24.90
$XPDR_PINGS,0
$AR_POSTDIVE_SAMPLENUM,7
$AR_CDRIVE_FREE,8441462784
$AR_CDRIVE_SIZE,8453062656
$AR_DDRIVE_FREE,59547746304
$AR_DDRIVE_SIZE,59996930048
$24V_AH,24.6,3.374
$10V_AH,10.5,2.923
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,21.875,64.575,235.975,159.925,0.000,28.354,28.135,327.741,0.000,0.000,13.847,816.759,4617.372,494.002,1470.714,138.020,33.320,1072.889,0.000,1040.721,0.000,0.543,0.000
$DEVICE_MAMPS,246.207,56.758,801.515,470.938,0.000,0.000,0.000,0.000,420.000,0.000,0.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,nil,ARS,nil,nil
$SENSOR_SECS,290.600,0.000,0.000,0.000,0.000,0.000,0.000,7851.020,0.000,0.000
$SENSOR_MAMPS,24.000,0.000,0.000,0.000,0.000,0.000,0.000,8.235,0.000,0.000
$MEM,335152
$DATA_FILE_SIZE,13477,434
$CAP_FILE_SIZE,80298,0
$CFSIZE,260165632,235855872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,174514,2108.920,-15753.040,11,1.6,11,9.8